Grasping docking mechanism of TBM steel arch splicing robot

doi:10.3785/j.issn.1008-973X.2020.11.016

Journal of ZheJiang University (Engineering Science)

2020, Vol. 54

Issue (11): 2204-2213 DOI: 10.3785/j.issn.1008-973X.2020.11.016

Grasping docking mechanism of TBM steel arch splicing robot

Yuan-fu HE1(

),Yi-min XIA1,*(

),Bin LONG2,Zhao-hui DENG3,Mao-lin LEI2,Jie YAO3

1. College of Mechanical and Electrical Engineering, State Key Laboratory of High Performance Complex Manufacturing, Central South University, Changsha 410083, China
2. China Railway Construction Heavy Industry Co. Ltd, Changsha 410100, China
3. China Railway Siyuan Survey and Design Group Co. Ltd, Wuhan 430063, China

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Abstract

A grasping docking mechanism for tunnel boring machine (TBM) steel arch splicing manipulators was proposed to improve the splicing efficiency of steel arch and reduce the impact of manual work on construction. Firstly, the configuration of the grasping docking mechanism was constructed by the graphic method. The mechanism was decomposed into two branch chains according to the mechanism function realization method, and the degree of freedom (DOF) space and the constraint space were obtained. Some homogenous subspaces of the DOF space of each branch chain were obtained according to the functional equivalence of the line graph. The overall configuration of the mechanism was obtained by superposing and combining the motion pairs of branch chains which were reasonable for each homogenous subspace. Then, the kinematics model of the mechanism was established, and the inverse solutions of the position and rotation angle of each slider were obtained. The performance index of the mechanism was proposed. The transmission performance of the grasp module was analyzed by using the screw theory, and results show that the global transfer index of the grasping docking mechanism reached at least 0.75, which has good transfer performance, and the maximum value of its working space should be less than π/2. Finally, the prototype of the grasping docking mechanism was made, and experiments were conducted on the grasping process of the steel arch to verify the feasibility of the mechanism.

Key words： TBM steel arch splicing grasping docking mechanism graphic method configuration design performance indicator

Received: 18 November 2019 Published: 15 December 2020

CLC:

U 455

Corresponding Authors: Yi-min XIA E-mail: 173712148@csu.edu.cn;xiaymj@mail.csu.edu.cn

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	Yuan-fu HE
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	Zhao-hui DENG
	Mao-lin LEI
	Jie YAO

Cite this article:

Yuan-fu HE,Yi-min XIA,Bin LONG,Zhao-hui DENG,Mao-lin LEI,Jie YAO. Grasping docking mechanism of TBM steel arch splicing robot. Journal of ZheJiang University (Engineering Science), 2020, 54(11): 2204-2213.

URL:

http://www.zjujournals.com/eng/10.3785/j.issn.1008-973X.2020.11.016 OR http://www.zjujournals.com/eng/Y2020/V54/I11/2204

TBM钢拱架拼接机械手抓取对接机构

为了提高钢拱架拼接效率，降低人工作业对施工的影响，提出隧道掘进机(TBM)钢拱架拼接机械手的抓取对接机构. 利用图谱法对抓取对接机构进行构型设计，根据机构功能实现方式，将机构分解成2个支链，确定其自由度(DOF)空间和约束空间；根据线图的功能等效性，得到各支链自由度空间的若干同维子空间，配置合理的支链运动副，通过叠加组合，得到机构整体构型；建立机构的运动学模型，推导出机构各滑块位置与转动角的逆解；给出机构性能指标，利用螺旋理论，分析机构抓取模块的传递性能，结果表明，抓取对接机构的全局传递指标达到至少0.75，具有较好的传递性能，且其工作空间最大取值应小于π/2. 制作抓取对接机构的样机，对钢拱架拼接过程进行实验，验证机构的可行性.

关键词： TBM钢拱架拼接, 抓取对接机构, 图谱法, 构型设计, 性能指标

Tab.1 Representation and significance of line graph

Fig.1 Partial basic line space mapping

Fig.2 Flow chart of design of graphic method

Fig.3 Manual splicing of steel arch

Fig.4 Schematic diagram of steel arch installation

Fig.5 New steel arch structure

Tab.2 Same-dimensional subspace and kinematic pair of line graph

Fig.6 DOF space of lower jaw chain

Tab.3 Same-dimensional subspace and kinematic pair of line graph one

Tab.4 Same-dimensional subspace and kinematic pair of line graph two

Fig.7 DOF space of upper jaw chain

Fig.8 Superposition of upper and lower jaws chain structure

Fig.9 Optional configuration for grasping docking mechanism

Fig.10 Schematic diagram of structure of grasping docking mechanism

Fig.11 Schematic diagram of grasp module

Fig.12 Kinematic modeling of grasping docking mechanism

Fig.13 Schematic diagram of steel arch grasp

Fig.14 Schematic diagram of closed loop mechanism of grasp module

Fig.15 Relationship between workspace and global transfer index

Tab.5 Speed control of each cylinder of mechanism

Fig.16 Grasping docking mechanism prototype

Fig.17 Speed curve of upper and lower jaws


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